Difference between revisions of ""TROLL": a regenerating robot"
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{{StudentProjectTemplate | {{StudentProjectTemplate | ||
|Summary="TROLL": a regenerating robot | |Summary="TROLL": a regenerating robot | ||
| + | |Keywords=regenerative robot, body schema, fault detection, self-healing | ||
| + | |TimeFrame=2015-01-16 - 2015-06-31 | ||
|References=K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006 | |References=K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006 | ||
| − | |Supervisor=Martin Cooney, Anita Sant'Anna | + | |Prerequisites=some capability to work with software, and interest in robots and recognition |
| + | |Supervisor=Martin Cooney, Anita Sant'Anna | ||
| + | |Examiner=Antanas Verikas | ||
|Author=Yinrong Ma | |Author=Yinrong Ma | ||
|Level=Master | |Level=Master | ||
Revision as of 02:11, 19 January 2015
| Title | "TROLL": a regenerating robot |
|---|---|
| Summary | "TROLL": a regenerating robot |
| Keywords | regenerative robot, body schema, fault detection, self-healing |
| TimeFrame | 2015-01-16 - 2015-06-31 |
| References | K. Gold, B. Scassellati, Using probabilistic reasoning over time to self-recognize, Robotics and Autonomous Systems (2008), doi:10.1016/j.robot.2008.07.006 |
| Prerequisites | some capability to work with software, and interest in robots and recognition |
| Author | Yinrong Ma |
| Supervisor | Martin Cooney, Anita Sant'Anna |
| Level | Master |
| Status | Ongoing |
Goal: a companion robot which can fix some of its own problems itself
Motivation: people, especially the elderly, cannot be expected to maintain very complex robots; robots should help out
Challenge: it's tough even for humans to repair robots. For a soft companion robot intended to interact closely with people, two very common problems are:
Degradation of its exterior (marks and scratches) Motor problems (due to e.g., frayed/loose cables, gears wearing down)
Approach:
To detect the problems above, the student will set up a robot to look at itself periodically in a mirror while moving, comparing a mental model of itself with what it actually perceives. Time allowing, the student should also try to develop some capability for the robot to seek to repair identified problems: marking holes in its exterior and damaged motors, and possibly robot motions to try to fill holes with foam
Requirement: some capability to work with software, and interest in robots and recognition
Expected results: a thesis/report, code, video
